Geometric Path Plans for Perpendicular Parking Based on Clothoid Curve

Automatic parking system is widely used in the daily life. This paper focuses on addressing perpendicular parking challenges in both spacious and narrow spaces by proposing two distinct path planning methods. First, an anthropomorphic two-maneuver path planning algorithm is designed for the wide parking corridor. Second, a multiple-maneuver path planning algorithm under the limited condition is proposed. Third, clothoid curves are utilized to resolve the problem of discontinuous curvature. Finally, the Matlab-PreScan co-simulation platform is implemented to test the presented strategies. The results demonstrate that the path planning methods can effectively generate continuous curvature paths for parking corridors of different widths and distinct initial parking points and enhance safety and comfort during the parking process.